值得學習的地方：
1.選擇合法索引的方式
2.數組轉圖像顯示
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import numpy as npfrom PIL import Image#input : shape(N, 4)# (x, y, z, intensity)def pointcloud2image(point_cloud): x_size = 640 y_size = 640 x_range = 60.0 y_range = 60.0 grid_size = np.array([2 * x_range / x_size, 2 * y_range / y_size]) image_size = np.array([x_size, y_size]) # [0, 2*range) shifted_coord = point_cloud[:, :2] + np.array([x_range, y_range]) # image index index = np.floor(shifted_coord / grid_size).astype(np.int) # choose illegal index bound_x = np.logical_and(index[:, 0] >= 0, index[:, 0] < image_size[0]) bound_y = np.logical_and(index[:, 1] >= 0, index[:, 1] < image_size[1]) bound_box = np.logical_and(bound_x, bound_y) index = index[bound_box] # show image image = np.zeros((640, 640), dtype=np.uint8) image[index[:, 0], index[:, 1]] = 255 res = Image.fromarray(image) # rgb = Image.merge('RGB', (res, res, res)) res.show() |
以上這篇Python實現點云投影到平面顯示就是小編分享給大家的全部內容了，希望能給大家一個參考，也希望大家多多支持服務器之家。
原文鏈接：https://blog.csdn.net/random_repick/article/details/80770292
